#ifndef _AHRS_H
#define _AHRS_H

#include "main.h"

#define MPU6050_ACCEL_2G_SEN     0.0002990722656f
#define MPU6050_ACCEL_4G_SEN     0.0005981445312f
#define MPU6050_ACCEL_8G_SEN     0.0011962890625f
#define MPU6050_ACCEL_16G_SEN    0.002392578125f


#define MPU6050_GYRO_2000_SEN    0.00106526443603169529841533860381f
#define MPU6050_GYRO_1000_SEN    0.00053263221801584764920766930190693f
#define MPU6050_GYRO_500_SEN     0.00026631610900792382460383465095346f
#define MPU6050_GYRO_250_SEN     0.00013315805450396191230191732547673f


void MahonyImuUpdate(float gx, float gy, float gz, float ax, float ay, float az, float* IMU_Angle);

	
#endif

